Effect of information delay on string stability of platoon of automated vehicles under typical information frameworks

Abstract：The effect of the information delay, which was caused by the nature of the distance sensors and wireless communication systems, on the string stability of platoon of automated vehicles was studied. The longitudinal vehicle dynamics model was built by taking the information delay into consideration, and three typical information frameworks, i.e., leader-predecessor framework (LPF), multiple-predecessors framework (MPF) and predecessor-successor framework (PSF), were defined and their related spacing error dynamics models in frequency domain were proposed. The string stability of platoon of automated vehicles was analyzed for the LPF, MPF and PSF, respectively. Meanwhile, the related sufficient string stable conditions were also obtained. The results demonstrate that the string stability can be guaranteed for the LPF and PSF with considering the information delay, but the ranges of the control gains of the control laws are smaller than those without considering the information delay. For the MPF, the weak string stability, which can be guaranteed without considering the information delay, cannot be obtained with considering the information delay. The comparative simulations further demonstrate that the LPF shows better string stability, but the PSF shows better string scalable performance. 作者： Author： XIAO Ling-yun[1]  GAO Feng[2] 作者單位： School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics,Beijing 100191, China;Defective Product Administrative Center, General Administration of Quality Supervision, Inspection and Quarantine of China, BeijingSchool of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics,Beijing 100191, China 期 刊： 中南大學學報(英文版)   EISCI Journal： JOURNAL OF CENTRAL SOUTH UNIVERSITY OF TECHNOLOGY(ENGLISH EDITION) 年，卷(期)： 2010, 17(6) 分類號： U4 Keywords： string stability    information delay    information framework    automated vehicle    intelligent transportation system    機標分類號： R39 TN 機標關鍵詞： information    typical    delay    framework    communication systems    frequency domain    distance sensors    dynamics models    related    control    PSF    LPF    better    comparative    nature of    MPF    results    defined    three    gains 基金項目： the Doctoral Foundation of Ministry of Education of China

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